Will Warp bridge these two objects?
In blender there are two Warps. 

Warp Tool

The Warp tool pulls selected vertices towards the 3d-cursor. thats it.

Warp Modifier

The Warp modifier, doesn't appear to do what you'd like it to. It will warp in a straight line from A to B.



Tube Tool (can ..sortof)

TubeTool comes closer. Here a a description ( https://blender.stackexchange.com/a/28193/47 ) and here the link to the GitHub repository. Feedback welcome.



TubeTool labours under the assumption (currently) that the selected faces are part of one object. At present that means maybe duplicating them, separating selection and then joining them together into one object. The faint blue line emanating from the faces shows their normal, tube tool allows you to flip the perceived normal by providing an option to specify direction (negative or positive).

This will at the very least give you a nice curve between the two faces, from that point you can select a Bevel Object or reduce the amount of subdivisions in the default bevel circle. The upside to attaching a Bevel Object once the curve is created is that you can adjust the geometry of the Bevel Object to match the two faces.

TubeTool isn't very sophisticated yet, but it could be worth checking anyway - and I'm open to suggestions.